Stryker Corporation

Mako Surgical Corporation

David Gene Bowling

Joel N Beer

Patrick Roessler

John Michael Stuart

Donald W Malackowski

José Luis Moctezuma De La Barrera

Jerry A Culp

Paul Shiels

Christopher Wayne Jones

John S Ketchel

Hyosig Kang

Michael Dale Dozeman

Michael C Ferko

Richard Thomas DeLuca

Jienan Ding

Seamus Gilhooley

Greg McEwan

Lucas Gsellman

Timothy J Bozung

Larry D O'Cull

Victor Soto

Helmut Rohs

Gregory Garcia

Rishabh Khurana

Bharat Arora

Greg Starr

Jevin Scrivens

Patrick C Kelly

Marko N Kostic

Gregory S Taylor

Jochen Breisacher

Jonathan Mark Morgan

Alan Ross

Ezra Johnson

Jeremy L Dunn

Christopher Alan Lightcap

Gregory Paul Starr

Jose-Luis Moctezuma De La Barrera

Dave A Sinclair

David DiPietro

Paul David Ekegren

David Robert Whisler

Nicholas Joseph LaBarbera

Thomas Trey Miller

Robert Lee Boudreaux

Jeremiah Beers

Surgical robotic systems and navigation systems employ a robotic arm including a plurality of links. A link tracker assembly is located on the surface of one or more of the links to enable the link to be tracked by a localizer. The link tracker assemblies can utilize a plurality of tracker elements that can be removably coupled to the link. A photosensor assembly is located on the surface of one or more of the links to receive signals from the localizer for controlling the link tracker assembly. The robotic arm can be coupled to a base and the systems can be used in collaboration with a base tracker that is coupled to the base. The robotic arm can also include a mounting interface for receiving an end effector and the systems can be used in collaboration with an end effector tracker that is coupled to the end effector.

Robotic system including a link tracker

A surgical navigation system and method of operating the same involve a pointer tool and a localizer configured to track the pointer tool. Controller(s) is/are coupled to the localizer and are configured to generate a virtual boundary relative to a bone at a surgical site. The virtual boundary has a shape that delineates a region of the bone to be removed from a region to be avoided. The controller(s) identify, with the localizer, a position of one or more landmarks at the surgical site in response to the pointer tool touching the one or more landmarks at the surgical site. The controller(s) revise the shape of the virtual boundary based on the position of the one or more landmarks.

Surgical systems and methods for dynamic virtual boundary adjustment

Surgical systems and methods involve a robotic manipulator with a force sensor and a surgical tool that holds a screw. The screw has a known thread geometry. A navigation system tracks a pose of a target anatomy. Controller(s) store the known thread geometry and control the robotic manipulator to maintain the rotational axis on a planned trajectory with respect to the target anatomy based on the tracked pose of the target anatomy. The controller(s) detect, with the force sensor, a force applied by a user. The controller(s) control a rotational rate of the surgical tool to rotate the screw about a rotational axis and an advancement rate of the surgical tool to linearly advance the screw along the planned trajectory. The rotational rate and the advancement rate are based on the force applied by the user and are proportional to the known thread geometry.

Robotic spine surgery system and methods

Systems and methods are provided for guiding movement of a tool. The system includes a tool and a manipulator. A guide handler obtains a target state for the tool and generates virtual constraints based on the target state and a current state of the tool. A constraint solver calculates a constraint force adapted to attract the tool toward the target state or repel the tool away from the target state based on the virtual constraints. A virtual simulator simulates dynamics of the tool in a virtual simulation based on the constraint force and input from one or more sensors, to output a commanded pose. The control system commands the manipulator to move the tool based on the commanded pose to thereby provide haptic feedback to the user that guides the user toward placing the tool at the target state or away from the target state.

Systems and methods for guiding movement of a tool

Surgical systems and methods of operating the same involve controlling a robotic manipulator to move a cutting instrument to cut away material from a bone at a surgical site. A machine vision system uses a vision camera to detect an object at, or in proximity to, the surgical site. A control system associates a virtual boundary with the detected object and controls the robotic manipulator to move the cutting instrument based on the virtual boundary such that the cutting instrument avoids the detected object. In one example, the control system modifies a tool path of the cutting instrument based on the virtual boundary to avoid the detected object. Additionally, or alternatively, the control system can automatically adjust an orientation of the cutting instrument based on the virtual boundary to avoid the detected object.

Systems and methods for establishing virtual constraint boundaries

A user control device for a surgical system. The surgical system includes a robotic manipulator to support and move a surgical instrument that has an energy applicator. One or more controllers operate the robotic manipulator in a semi-autonomous mode and calculate an instrument feed rate, which is the velocity at which the energy applicator advances along a tool path in the semi-autonomous mode. The user control device includes a housing configured as a pendant configured to be held in one hand of a user. A first control member is mounted to the housing and can be depressed to initiate operation of the robotic manipulator in the semi-autonomous mode. A second control member is mounted to the housing and can be depressed to modify the instrument feed rate in the semi-autonomous mode.

Hand-held pendant for controlling a surgical robotic manipulator in a semi-autonomous mode

A surgical system and method of operating the same include a manipulator with a base, a robotic arm coupled to the base, and a saw tool coupled to the robotic arm to perform a cut of a bone. A control system is coupled the manipulator and obtains data defining a cutting plane for the bone and a pre-determined depth of the bone to be cut by the saw tool along the cutting plane. The control system associates a virtual planar boundary with the bone along the cutting plane and controls the manipulator to autonomously align the saw tool to the cutting plane. The control system controls the manipulator to activate and autonomously move the saw tool along the cutting plane to perform the cut. Autonomous movement of the saw tool is constrained to remain within the virtual planar boundary and not exceed the pre-determined depth.

Robotic cutting systems and methods for surgical saw blade cutting on hard tissue

Surgical systems and methods for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and controller(s) that generate a virtual boundaries delineating a portions of the anatomy allowed to be removed by the surgical tool. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a first virtual boundary and according to a first feed rate or first frequency of path oscillations to remove a first portion. The controller(s) control the robotic manipulator to autonomously move the surgical tool in relation to a second virtual boundary that is spaced from the first virtual boundary, and according to a different feed rate or different frequency of path oscillations, to remove a second portion.

System and method for manipulating an anatomy

Tools, assemblies, surgical systems enable impacting a prosthesis into a surgical site. The tool has an impactor head with a surface to receive an impact force that is manually imparted by a user. A tool shaft has a distal portion and a proximal portion fixed to the impactor head. The tool shaft can be supported by a robotically manipulated tool guide for alignment of the tool shaft relative to the surgical site. A compliance mechanism of the tool has a proximal body coupled to the distal portion of the tool shaft and a distal body supported by the proximal body. The distal body is adapted to releasably attach directly to the prosthesis. The distal body is moveable relative to the proximal body for providing compliant motion of the distal body and prosthesis relative to the tool shaft in response to the impact force that is manually imparted by the user.

Systems and tools for positioning workpieces with surgical robots

A surgical system and method involve a manipulator including a plurality of links and joints and a tool coupled to the manipulator. A navigation system includes a localizer, a first tracker coupled to the robotic manipulator or the tool, and a second tracker coupled to a workpiece. Controller(s) determine, from the navigation system, a pose of the tool relative to the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a first portion from the workpiece with the tool and sense interaction between the tool and the workpiece during removal of the first portion to detect a density of the workpiece. The controller(s) control the robotic manipulator to facilitate removal of a second portion from the workpiece with the tool, wherein a cutting depth for the second portion is based, at least in part, on the detected density.

Robotic systems and methods for controlling a tool to remove material from a workpiece

Robotic surgical systems and methods for controlling movement of a tool relative to a tool path. An input is received from a force/torque sensor in response to user forces/torques manually applied to the tool by a user. A component of force is calculated tangential to the path based on the input. An effective feed rate is calculated to advance the tool along the path based on the tangential component. Virtual constraints are defined on movement of the tool along the path with respect to three degrees of freedom and based on the effective feed rate to promote movement of the tool along the path. Dynamics of the tool are virtually simulated based on the virtual constraints and the input from the force/torque sensor. The manipulator is commanded to advance the tool along the path based on the virtual simulation.

Systems and methods for controlling movement of a surgical tool along a predefined path class

An assembly for a surgical arm includes a tool to position a prosthesis and an end effector. The tool has a tool shaft extending along a tool axis and a tool engagement surface. The end effector has a mount attachable to the surgical arm, a body portion extending from the mount, a distal end, and a guide portion is at the distal end of the body portion to receive the tool. The guide portion has a pair of arms, each arm extending to an arm end and the arm ends are spaced apart from one another to provide an opening between the arm ends. A channel is formed between the arms and extends along a guide axis. The arms define an arc-shaped guide engagement surface to enable contact with the tool engagement surface for facilitating alignment of the tool axis and the guide axis.

Systems, methods, and end effectors for guiding prostheses

Surgical systems and methods for generating a tool path. A manipulator is configured to support and move a surgical instrument. Controller(s) obtain data that defines a volume of tissue to be removed from a surgical site. The controller(s) operate the manipulator to move the surgical instrument to remove first portions of the volume and acquire data defining the first portions removed from the volume. The controller(s) identify, based on the volume and the acquired data, additional portions of the volume of tissue that require removal. The controller(s) generate a tool path that passes through the additional portions and operate the manipulator to move the surgical instrument along the tool path to remove the additional portions.

Robotic system and method for removing a volume of material from a patient

A surgical system for manipulating an anatomy includes a surgical tool, a robotic manipulator configured to support and move the surgical tool, and one or more controllers that activate a first virtual boundary delineating a first portion of the anatomy that is allowed to be removed by the surgical tool from a second portion of the anatomy that is protected from removal by the surgical tool. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform fine cutting of the first portion in relation to the first virtual boundary. The one or more controllers control the robotic manipulator for enabling the surgical tool to perform bulk cutting of the second portion of the anatomy.

A robotic manipulator includes an arm including at least one joint driven by a transmission comprising an output, an isolation mechanism coupled to the output of the transmission, and a force/torque sensor coupled to the isolation mechanism. The force/torque sensor includes a body, which includes a stationary part and a movable part coupled to and being movable relative to the stationary part. The force/torque sensor also includes one or more sensing elements configured to sense forces and torques applied to the movable part. The isolation mechanism is configured to deform in response to forces induced by the transmission to mechanically isolate the force/torque sensor from forces induced by the transmission.

Robotic manipulator comprising isolation mechanism for force/torque sensor

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Los Ranchos de Albuquerque, NM, United States of America

David Gene Bowling